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Comparative Analysis of Quasi-Differential Approaches in Inverse Kinematics Read chapter Read first chapter

2018 | OriginalPaper | Chapter

Delay-Dependent Criteria for Robust Dynamic Stability Control of Articulated Vehicles

Authors : Mojtaba Sharifzadeh, Arash Farnam, Adolfo Senatore, Francesco Timpone, Ahmad Akbari

Published in: Advances in Service and Industrial Robotics

Publisher: Springer International Publishing

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Abstract

In this paper, the dynamic stability analysis and control of an articulated heavy vehicle is investigated. First, lateral dynamics of an articulated heavy vehicle is described by a 3-DOF rigid body model. Then, it is considered as a linear system with steering input with delay. System states are the lateral and yaw motion of the tractor unit and the yaw motion of the semitrailer unit. Thus a less conservative stability criterion is developed for this system with time-varying delay. The key idea is constructing a new type of LKF containing a quadruple-integral term. Moreover, novel free-weighting matrices are introduced to increase the degree of freedom in the sufficient stability condition. The proposed delay-dependent stability measure is presented in the terms of linear matrix inequalities (LMIs). Numerical simulations are performed to show the performance of the proposed approach and demonstrate that the suggested scheme is remarkably less conservative compared to the available stability analysis approaches in the literature.

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Metadata
Title
Delay-Dependent Criteria for Robust Dynamic Stability Control of Articulated Vehicles
Authors
Mojtaba Sharifzadeh
Arash Farnam
Adolfo Senatore
Francesco Timpone
Ahmad Akbari
Copyright Year
2018
Book
Advances in Service and Industrial Robotics

Print ISBN: 978-3-319-61275-1

Electronic ISBN: 978-3-319-61276-8

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-3-319-61276-8_46